| 摘要 |
PURPOSE:To make the lay of a tape and an electric wire unnecessary, and to form a self-running truck control device with high accuracy and few memories by prescribing a course pattern by plural passing points, and also interpolating a part between the passing points at minute pitches. CONSTITUTION:A memory 10 stores a coordinate data of plural passing points for prescribing a course pattern. In this state, when a vehicle starts to move, an interpolation calculating part 12 calculates suitably a target position data every moment, and outputs it to an error calculating part 17. At the same time, outputs of encoders 8-1, 8-2, and an output of a rate sensor 9 are inputted to a running locus calculating part 16 through counters 13-1, 13-2 and a mean value part 14, and through an integration circuit 9, respectively. A result of this calculation is inputted as a present value data to the error calculating part 17, and the result of this calculation is inputted as a command value to a steering motor control part 18. In this way, it is unnecessary to lay a tape and an electric wire, and a self-running truck control device having a high accuracy and few memories can be formed. |
